#ifndef __CONTROL_H
#define __CONTROL_H
#include "sys.h"

int EXTI15_10_IRQHandler(void);
void Kinematic_Analysis(float Vx,float Vy,float Vz);
void Kinematic_Analysis2(float Vx,float Vy,float Vz);
void Xianfu_Pwm(int amplitude);
void Xianfu_Velocity(int amplitude_A,int amplitude_B,int amplitude_C,int amplitude_D);

int Incremental_PI_A (int Encoder,int Target);
int Incremental_PI_B (int Encoder,int Target);
int Incremental_PI_C (int Encoder,int Target);
int Incremental_PI_D (int Encoder,int Target);

int Position_PID_A (int Encoder,int Target);
int Position_PID_B (int Encoder,int Target);
int Position_PID_C (int Encoder,int Target);
int Position_PID_D (int Encoder,int Target);

void Count_Velocity(void);
void Get_MB(float X,float Y,float Z);


void left(int PWM);
void right_xie(int PWM);
void back(int PWM);
void straight(int PWM);
void stop(void);
void cilcle(int PWM);
void stay(void);


#endif
